平面3RRR机构杆长误差对奇异性的影响分析

针对并联机器人的精度这一性能指标,分析了3RRR并联机器人的杆长误差对整个机构的影响,运用雅可比矩阵法从理论上分析了3RRR并联机器人杆长误差与其奇异位置的关系,根据求解的结果建立相应的误差模型,并在MATLAB中计算出理想状态下的奇异位置和考虑杆长误差状态下的奇异位置的偏差度,将计算所得的偏差数据以图像的形式表现出来加以分析,最终得出了3RRR机构不同杆的杆长误差与奇异位置的偏移程度关系,为该机构的设计精度要求提供了科学的参考依据。

Analysis of Influence of Rod Length Errors of Planar 3RRR Mechanism on Singularity

Aiming at the precision of parallel robot, this performance index, the influence of the rod length error of the 3RRR parallel robot on the whole mechanism was analyzed.By using the Jacobi matrix method, the relationship between the 3RRR parallel robot and the rod length error of singular positionwas analyzed theoretically.The corresponding error model was established according to the result of the solution, andthe singular position under ideal condition was calculated and the singular position error of rod length under the condition of the degree of deviation was considered in MATLAB, and then the calculated deviation data were analyzed and shown in the form of an image.Finally, the relationship of deviation degreeis concluded between the rod length error and the singular position of the 3RRR mechanism at different rod,providing a scientific reference for the design accuracy in need of the mechanism.